/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "LCD.h"
#include "touch.h"
#include "Motor.h"
#include "AT24C02.h"
#include "PID_Motor.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint32_t sys_tick;
int Speed_left,Speed_right;     //speed经过测试0-115
uint8_t temp;


uint8_t x1,x2,x3,x4,x5,x6,x7,x8;
uint8_t GetDataCounter = 0;
uint8_t sensor_pattern = 0;
float PID_IR_Out = 0;

extern PID_Struct Motor_PID_left;
extern PID_Struct Motor_PID_Right;

PIDController PID_IR;
extern int err;
extern uint8_t flag;
extern unsigned char KeyVal;
uint8_t Counter = 0;
extern PID_Motor pid;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
  if(htim->Instance == TIM2){
    Motor_PID_left.PIDCounter++;
    Motor_PID_Right.PIDCounter++;
    Counter++;

    Motor_PID_left.GetValue = Speed_left;
    Motor_PID_Right.GetValue = Speed_right;

  }
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_SPI1_Init();
  MX_SPI2_Init();
  MX_I2C1_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  MX_UART5_Init();
  MX_TIM8_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */
  Motor_Init();
  LCD_Init();
  tp_dev.init();
  TP_Read_XY(&tp_dev.x,&tp_dev.y);
  POINT_COLOR = RED;
  HAL_Delay(100);


  HAL_TIM_Base_Start_IT(&htim2);
  PID_IR_Init(&PID_IR,0.7,0.01,0.5,80);

  Motor_Angle_PID_Init_Left();
  Motor_Angle_PID_Init_Right();

  char text[20] = {0};
  LCD_ShowString(120,0,16,"Touch Test",1);
  LCD_ShowString(50,80,16,"Motor_L",1);
  LCD_ShowString(50,100,16,"Motor_R",1);
  // MotorA_Speed(1,1000);
  // MotorB_Speed(1,1000);

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    Xunxian();
    Read_Speed();
    // GetKeyVal();
    //
    // if(GetKeyVal() == 1)
    // {
    //   PID_IR.Kd +=0.01;
    //   KeyVal = 0;
    // }
    // if(GetKeyVal() == 2)
    // {
    //   PID_IR.Kd -=0.01;
    //   KeyVal = 0;
    // }

    sprintf(text,"%d\r\n", Speed_left);
    HAL_UART_Transmit(&huart1,(uint8_t*)text,strlen(text),50);

    PID_IR_Out = PID_IR_Compute(&PID_IR,0.0,err);
    Motor_PID_left.SetValue = 80 - PID_IR_Out*3.5;
    Motor_PID_Right.SetValue = 80 + PID_IR_Out*3.5;
    // if (PID_IR_Out*3.5 > 30 && PID_IR_Out < 50) HAL_Delay(50);
    // if (PID_IR_Out*3.5 > 50 && PID_IR_Out < 80) HAL_Delay(50);
    LCD_ShowNum(120,80,Speed_left,5,16);
    LCD_ShowNum(120,100,Speed_right,5,16);

    Motor_Angle_PID_Cal_Left();
    Motor_Angle_PID_Cal_Right();

    MotorA_Speed(1,Motor_PID_left.Pout);
    MotorB_Speed(1,Motor_PID_Right.Pout);



    deal_IRdata(&x1,&x2,&x3,&x4,&x5,&x6,&x7,&x8);
    sensor_pattern = (x1 << 7) | (x2 << 6) | (x3 << 5) | (x4 << 4) |
                        (x5 << 3) | (x6 << 2) | (x7 << 1) | x8;
    sprintf(text,"%d,%d,%d,%d,%d,%d,%d,%d",x1,x2,x3,x4,x5,x6,x7,x8);
    LCD_ShowString(0,120,16,(uint8_t *)text,0);

    sprintf(text,"Left:%0.4f",Motor_PID_left.Pout);
    LCD_ShowString(0,140,16,(uint8_t *)text,0);
    sprintf(text,"Right:%0.4f",Motor_PID_Right.Pout);
    LCD_ShowString(0,160,16,(uint8_t *)text,0);

    sprintf(text,"kd:%0.4f",PID_IR.Kd);
    LCD_ShowString(0,180,16,(uint8_t *)text,0);
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
    // Read_Speed();
    // LCD_ShowNum(120,80,Speed_left,5,16);
    // LCD_ShowNum(120,100,Speed_right,5,16);
    tp_dev.scan(0);
    if(tp_dev.sta&TP_PRES_DOWN)			//如果检测到屏幕被按下
    {

      TP_Draw_Big_Point(tp_dev.x,tp_dev.y,GREEN);		//画点

    }

    // //LCD_ShowString(0,0,16,"hello world",0);

  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 4;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
